Merge pull request autowarefoundation#592 from tier4/sync-awf-upstream

chore: sync awf/autoware_launch

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,7 +1,3 @@
 /**:
   ros__parameters:
-    lanelet2_map_projector_type: MGRS   # Options: MGRS, UTM, local
-    latitude: 40.81187906        # Latitude of map_origin, using in UTM
-    longitude: 29.35810110          # Longitude of map_origin, using in UTM
-
     center_line_resolution: 5.0         # [m]

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -1,15 +1,16 @@
 /**:
   ros__parameters:
     class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 9  # x, y, z, time-lag and car, pedestrian, bicycle
+    paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 7  # x, y, z, time-lag and car, pedestrian, bicycle
     max_voxel_size: 40000
-    point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
+    point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
+    voxel_size: [0.32, 0.32, 8.0]
     downsample_factor: 1
-    encoder_in_feature_size: 14
+    encoder_in_feature_size: 12
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     # post-process params
-    circle_nms_dist_threshold: 0.5
+    circle_nms_dist_threshold: 0.3
     iou_nms_target_class_names: ["CAR"]
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1

autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml

@@ -8,3 +8,4 @@
     enable_correct_goal_pose: false
     reroute_time_threshold: 10.0
     minimum_reroute_length: 30.0
+    consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -11,10 +11,10 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_update_path_when_object_is_gone: false
       enable_force_avoidance_for_stopped_vehicle: true
       enable_yield_maneuver: true
       enable_yield_maneuver_during_shifting: false
+      enable_cancel_maneuver: true
       disable_path_update: false
 
       # drivable area setting
@@ -175,10 +175,23 @@
         max_distance: 20.0                              # [m]
         stop_buffer: 1.0                                # [m]
 
-      constraints:
-        # vehicle slows down under longitudinal constraints
-        use_constraints_for_decel: true                 # [-]
+      policy:
+        # policy for vehicle slow down behavior. select "best_effort" or "reliable".
+        # "best_effort": slow down deceleration & jerk are limited by constraints.
+        #                but there is a possibility that the vehicle can't stop in front of the vehicle.
+        # "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
+        #             make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
+        deceleration: "best_effort"                     # [-]
+        # policy for avoidance lateral margin. select "best_effort" or "reliable".
+        # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
+        #                margin to avoid.
+        # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid
+        #             with expected lateral margin.
+        lateral_margin: "best_effort"                   # [-]
+        # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.
+        use_shorten_margin_immediately: true            # [-]
 
+      constraints:
         # lateral constraints
         lateral:
           velocity: [2.78, 4.17, 11.1]                   # [m/s]

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml

@@ -3,6 +3,7 @@
     dynamic_avoidance:
       common:
         enable_debug_info: true
+        use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
       target_object:
@@ -27,26 +28,36 @@
           min_time_to_start_cut_in: 1.0 # [s]
           min_lon_offset_ego_to_object: 0.0 # [m]
 
+        cut_out_object:
+          max_time_from_outside_ego_path: 2.0 # [s]
+          min_object_lat_vel: 0.3 # [m/s]
+
         crossing_object:
-          min_object_vel: 1.0
-          max_object_angle: 1.05
+          min_overtaking_object_vel: 1.0
+          max_overtaking_object_angle: 1.05
+          min_oncoming_object_vel: 0.0
+          max_oncoming_object_angle: 0.523
 
         front_object:
           max_object_angle: 0.785
 
       drivable_area_generation:
-        lat_offset_from_obstacle: 1.0 # [m]
+        polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base"
+
+        lat_offset_from_obstacle: 0.8 # [m]
         max_lat_offset_to_avoid: 0.5 # [m]
+        max_time_for_object_lat_shift: 0.0 # [s]
+        lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
 
         # for same directional object
         overtaking_object:
-          max_time_to_collision: 10.0 # [s]
+          max_time_to_collision: 40.0 # [s]
           start_duration_to_avoid: 2.0  # [s]
           end_duration_to_avoid: 4.0  # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
-          max_time_to_collision: 15.0 # [s]
+          max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
           start_duration_to_avoid: 12.0  # [s]
           end_duration_to_avoid: 0.0  # [s]

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -2,6 +2,12 @@
 <launch>
   <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
+  <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
+  <arg
+    name="detected_objects_validation_method"
+    default="obstacle_pointcloud"
+    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
+  />
   <arg name="lidar_detection_model" default="pointpainting" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="traffic_light_recognition/fusion_only" default="true" description="Whether to start only some of the signal recognition related nodes"/>
 
@@ -13,6 +19,8 @@
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+    <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
+    <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
     <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>